Unit testing and development for 9DOF sparkfun sensor stick
Dependencies: ADXL345 HMC5883L ITG3200 mbed
adxl345unit.cpp
- Committer:
- tylerjw
- Date:
- 2012-11-06
- Revision:
- 4:8a77e21d08f1
- Parent:
- 3:5e21a352e236
File content as of revision 4:8a77e21d08f1:
/* * @file adxl345unit.cpp * @author Tyler Weaver * * @section LICENSE * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without restriction, * including without limitation the rights to use, copy, modify, merge, publish, distribute, * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * * @section DESCRIPTION * * Unit test for the ADXL345 library. * * Reference: */ #include "adxl345unit.h" ADXL345UNIT::ADXL345UNIT(I2C &i2c, Timer &t) : adxl345_(i2c), pc_(USBTX, USBRX), open_file_(LED1), t_(t) { pc_.baud(9600); open_file_ = 0; init(); } void ADXL345UNIT::init() { // place initilazaition code here } bool ADXL345UNIT::builtInSelfTest(bool store_raw) { LocalFileSystem local("local"); FILE *fp; // file pointer bool test_pass[4] = {true,true,true,true}; bool full_test = true; int16_t st_off[100][3]; // {x,y,z}, self test off int16_t st_off_avg[3]; // self test off average int16_t st_on[100][3]; // {x,y,z}, self test off int16_t st_on_avg[3]; // self test on average int16_t delta[3]; // st_on - st_off const char axisK[3] = {'X','Y','Z'}; const int16_t resolutionsK[4] = {16,8,4,2}; const char data_formatK[4] = {ADXL345_16G, ADXL345_8G, ADXL345_4G, (ADXL345_2G | ADXL345_FULL_RES)}; const int16_t delta_minK[4][3] = {{6,-67,10},{12,-135,19},{25,-270,38},{50,-540,75}}; // {{16g},{8g},{4g},{2g}} from datasheet const int16_t delta_maxK[4][3] = {{67,-6,110},{135,-12,219},{270,-25,438},{540,-50,875}}; float period = 0.01; // period of sample rate adxl345_.setDataRate(ADXL345_100HZ); // 100Hz data rate adxl345_.setPowerMode(0); // high power for(int res = 0; res < 4; res++) { //print starting message pc_.printf("ADXL345: Starting Built In Self Test (%dg resolution)... \n\r", resolutionsK[res]); //wait 1.1ms wait(0.0111); pc_.puts("Calibrating... "); //initial command sequence adxl345_.setDataFormatControl(data_formatK[res]); adxl345_.setPowerControl(0x08); // start measurement //adxl345_.setInterruptEnableControl(0x80); // enable data_ready interupt (not needed?) pc_.puts("Done!\r\n"); //wait 11.1ms wait(0.0111); pc_.puts("Sampling: "); //take 100 data points and average (100Hz) sample100avg(period, st_off, st_off_avg, &t_); //activate self test adxl345_.setDataFormatControl(data_formatK[res] | ADXL345_SELF_TEST); // self test enabled //wait 11.1ms wait(0.0111); //take 100 data points and average (100Hz) sample100avg(period, st_on, st_on_avg, &t_); pc_.puts("Done!\r\n"); //inactivate self test adxl345_.setDataFormatControl(data_formatK[res]); // self test off //calculate self test delta(change) and compare to limits in data sheet //open file open_file_ = 1; fp = fopen("/local/BIST.csv", "a"); // open append, or create fprintf(fp, "ADXL345 Built In Self-Test\n\rResolution,%d,g\r\n\r\nAxis,Min,Max,Actual,Pass\r\n", resolutionsK[res]); for(int axis = 0; axis < 3; axis++) { delta[axis] = st_on_avg[axis] - st_off_avg[axis]; bool test = (delta[axis] >= delta_minK[res][axis] && delta[axis] <= delta_maxK[res][axis]); if(test == false) test_pass[res] = full_test = false; fprintf(fp, "%c,%4d,%4d,%4d,%s\r\n", axisK[axis],delta_minK[res][axis],delta_maxK[res][axis],delta[axis],(test)?"pass":"fail"); } fprintf(fp, "Test Result: %s\r\n\r\n", (test_pass[res])?"pass":"fail"); // close file fclose(fp); open_file_ = 0; pc_.printf("Test Result: %s\r\n", (test_pass[res])?"pass":"fail"); pc_.puts("Dumping raw data to BIT_RAW.csv... "); open_file_ = 1; if(store_raw) { //dump raw data to ADXL_RAW.csv fp = fopen("/local/BIST_RAW.csv", "a"); // open append, or create fprintf(fp, "ADXL345 Built In Self-Test Raw Data\n\rResolution,%d,g\r\nSample,X st_off,X st_on,Y st_off,Y st_on,Z st_off, Z st_off\r\n", resolutionsK[res]); for(int sample = 0; sample < 100; sample++) fprintf(fp, "%3d,%4d,%4d,%4d,%4d,%4d,%4d\r\n", (sample+1),st_on[sample][0],st_off[sample][0],st_on[sample][1],st_off[sample][1],st_on[sample][2],st_off[sample][2]); fputs("\r\n",fp); fclose(fp); open_file_ = 0; } pc_.puts("Done!\r\n"); } //return result return full_test; } void ADXL345UNIT::offsetCalibration(bool store_raw) { int16_t data[100][3]; // {x,y,z}, data int16_t data_avg[3]; int16_t calibration_offset[3]; LocalFileSystem local("local"); float period = 0.01; // period of sample rate // place sensor in x = 0g, y = 0g, z = 1g orientation pc_.puts("Offset Calibration: Sensor should be in x=0g,y=0g,z=1g orientation\r\n"); // wait 11.1ms wait(0.0111); // initalize command sequence adxl345_.setDataFormatControl((ADXL345_16G | ADXL345_FULL_RES)); adxl345_.setDataRate(ADXL345_100HZ); // 100Hz data rate adxl345_.setPowerMode(0); // high power adxl345_.setPowerControl(0x08); // start measurement // wait 1.1ms wait(0.0111); //take 100 data points and average (100Hz) sample100avg(period, data, data_avg, &t_); // calculate calibration value calibration_offset[0] = -1 * (data_avg[0] / 4); // x calibration_offset[1] = -1 * (data_avg[1] / 4); // y calibration_offset[2] = -1 * ((data_avg[2] - 256) / 4); // z // display and store values pc_.printf("X offset: %d\r\n", calibration_offset[0]); pc_.printf("Y offset: %d\r\n", calibration_offset[1]); pc_.printf("Z offset: %d\r\n", calibration_offset[2]); open_file_ = 1; FILE *fp = fopen("/local/OFF_CAL.csv", "w"); // write fprintf(fp, "ADXL345 Calibration offsets\r\nx,%d\r\ny,%d\r\nz,%d\r\n\r\n", calibration_offset[0], calibration_offset[1], calibration_offset[2]); if(store_raw) { fputs("Raw Data:\r\nX,Y,Z\r\n", fp); for(int sample = 0; sample < 100; sample++) fprintf(fp, "%d,%d,%d\r\n",data[sample][0],data[sample][1],data[sample][2]); } fclose(fp); open_file_ = 0; } //void ADXL345UNIT::sampleTimeTest() //{ // constructors and size of obj tests // destructor test // get device id [0xE5] // set power mode > get bw rate // //} int16_t ADXL345UNIT::arr_avg(int16_t* arr,int16_t length) { double average; for(int i = 0; i < length; i++) average += static_cast<double>(arr[i]) / static_cast<double>(length); return static_cast<int16_t>(average); } void ADXL345UNIT::sample100avg(float period, int16_t buffer[][3], int16_t *avg, Timer* t) { double start_time; for(int sample = 0; sample < 100; sample++) { start_time = t->read(); adxl345_.getXYZ(buffer[sample]); wait(period - (start_time - t->read())); } for(int axis = 0; axis < 3; axis++) { double average = 0.0; for(int sample = 0; sample < 100; sample++) average += buffer[sample][axis]; average /= 100.0; avg[axis] = static_cast<int16_t>(average); } }